Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/wpilibc/src/main/native/cpp/Solenoid.cpp b/wpilibc/src/main/native/cpp/Solenoid.cpp
new file mode 100644
index 0000000..3445f5d
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/Solenoid.cpp
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/Solenoid.h"
+
+#include <utility>
+
+#include <hal/HAL.h>
+#include <hal/Ports.h>
+#include <hal/Solenoid.h>
+
+#include "frc/SensorUtil.h"
+#include "frc/WPIErrors.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc;
+
+Solenoid::Solenoid(int channel)
+ : Solenoid(SensorUtil::GetDefaultSolenoidModule(), channel) {}
+
+Solenoid::Solenoid(int moduleNumber, int channel)
+ : SolenoidBase(moduleNumber), m_channel(channel) {
+ if (!SensorUtil::CheckSolenoidModule(m_moduleNumber)) {
+ wpi_setWPIErrorWithContext(ModuleIndexOutOfRange,
+ "Solenoid Module " + wpi::Twine(m_moduleNumber));
+ return;
+ }
+ if (!SensorUtil::CheckSolenoidChannel(m_channel)) {
+ wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
+ "Solenoid Channel " + wpi::Twine(m_channel));
+ return;
+ }
+
+ int32_t status = 0;
+ m_solenoidHandle = HAL_InitializeSolenoidPort(
+ HAL_GetPortWithModule(moduleNumber, channel), &status);
+ if (status != 0) {
+ wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
+ channel, HAL_GetErrorMessage(status));
+ m_solenoidHandle = HAL_kInvalidHandle;
+ return;
+ }
+
+ HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel,
+ m_moduleNumber);
+ SetName("Solenoid", m_moduleNumber, m_channel);
+}
+
+Solenoid::~Solenoid() { HAL_FreeSolenoidPort(m_solenoidHandle); }
+
+Solenoid::Solenoid(Solenoid&& rhs)
+ : SolenoidBase(std::move(rhs)), m_channel(std::move(rhs.m_channel)) {
+ std::swap(m_solenoidHandle, rhs.m_solenoidHandle);
+}
+
+Solenoid& Solenoid::operator=(Solenoid&& rhs) {
+ SolenoidBase::operator=(std::move(rhs));
+
+ std::swap(m_solenoidHandle, rhs.m_solenoidHandle);
+ m_channel = std::move(rhs.m_channel);
+
+ return *this;
+}
+
+void Solenoid::Set(bool on) {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetSolenoid(m_solenoidHandle, on, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+bool Solenoid::Get() const {
+ if (StatusIsFatal()) return false;
+ int32_t status = 0;
+ bool value = HAL_GetSolenoid(m_solenoidHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+ return value;
+}
+
+bool Solenoid::IsBlackListed() const {
+ int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
+ return (value != 0);
+}
+
+void Solenoid::SetPulseDuration(double durationSeconds) {
+ int32_t durationMS = durationSeconds * 1000;
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_SetOneShotDuration(m_solenoidHandle, durationMS, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void Solenoid::StartPulse() {
+ if (StatusIsFatal()) return;
+ int32_t status = 0;
+ HAL_FireOneShot(m_solenoidHandle, &status);
+ wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+void Solenoid::InitSendable(SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Solenoid");
+ builder.SetActuator(true);
+ builder.SetSafeState([=]() { Set(false); });
+ builder.AddBooleanProperty("Value", [=]() { return Get(); },
+ [=](bool value) { Set(value); });
+}